/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "gpio.h"
#include "tim.h"
#include "usart.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Driver_Usart.h"
#include "PID.h"
#include "cJSON.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t Flag_Usart1Rx = 0;
/*
 * 目标位置（在获得的图像的最中心）
 */
uint16_t Target_x = 80;
uint16_t Target_y = 60;

/*
 * 当前图像的位置
 */
uint16_t Now_x = 0;
uint16_t Now_y = 0;

/*
 * 目标角度,PWM的CCR从0~20000，周期20ms
 * 高电平持续时间0.5ms~2.5ms对应0~180度angle
 * CCR的值从500~2500   CCR=angle*11
 */
uint16_t Target_Anglex = 100;
uint16_t Target_Angley = 100;

/*
 * 当前图像的位置
 */
uint16_t Now_Anglex = 0;
uint16_t Now_Angley = 0;

/*
 * 接收x轴数据或者y轴数据
 */
char pre_x = 'x';
char pre_y = 'y';

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/**
 * 设置timer1 PWM的CCR，传入CCR的值,PE9
 * @param CCR
 */
void SetPitch(uint16_t Agnle) {
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, Agnle * 11 + 500);
}
/**
 * 设置timer1 PWM的CCR，传入CCR的值,PA0
 * @param CCR
 */
void SetYaw(uint16_t Agnle) {
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, Agnle * 11 + 500);
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void) {

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_USART2_UART_Init();
    MX_USART1_UART_Init();
    MX_TIM1_Init();
    MX_TIM2_Init();
    /* USER CODE BEGIN 2 */
    HAL_UARTEx_ReceiveToIdle_DMA(&huart1, Usart1_RxData, sizeof(Usart1_RxData));
    __HAL_DMA_DISABLE_IT(&hdma_usart1_rx, DMA_IT_HT);

    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, Usart2_RxData, sizeof(Usart2_RxData));
    __HAL_DMA_DISABLE_IT(&hdma_usart2_rx, DMA_IT_HT);

    //开启定时器TIM1、TIM2
    HAL_TIM_Base_Start_IT(&htim1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_Base_Start_IT(&htim2);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    SetPitch(10);
    HAL_Delay(100);
    SetYaw(0);
    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
        //        if (Flag_Usart1Rx == 1) {
        //            Usart2_Printf("%s\r\n", Usart1_RxData);
        //            HAL_Delay(500);
        //            Usart2_Printf("Now_x=%d,Now_y=%d\r\n", Now_x, Now_y);
        //            HAL_Delay(500);
        //        } else {
        //            Usart2_Printf("暂无数据");
        //            HAL_Delay(2000);
        //        }
    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
  */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLM = 8;
    RCC_OscInitStruct.PLL.PLLN = 168;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
  */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

/**
 * 串口接收中断服务函数、放在main.c进行调用
 * @param huart
 * @param Size
 */

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
    if (huart == &huart1) {
        Flag_Usart1Rx = 1;
        HAL_UART_Transmit_DMA(&huart1, Usart1_RxData, Size);

        HAL_UARTEx_ReceiveToIdle_DMA(&huart1, Usart1_RxData, sizeof(Usart1_RxData));

        __HAL_DMA_DISABLE_IT(&hdma_usart1_rx, DMA_IT_HT);
    }
    if (huart == &huart2) {
        HAL_UART_Transmit_DMA(&huart2, Usart2_RxData, Size);

        HAL_UARTEx_ReceiveToIdle_DMA(&huart2, Usart2_RxData, sizeof(Usart2_RxData));

        __HAL_DMA_DISABLE_IT(&hdma_usart2_rx, DMA_IT_HT);
    }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void) {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line) {
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
